System Research And Application Of Multi-rotor UAV Cooperative Formation Flying

The Cooperative Formation Flight(CFF)of Multi-rotor unmanned aerial vehicle(UAV)has been playing an important role in military and civil fields in receat years.It has broad prospects of development and application,and is attracting more and more attention.This paper aims at the system design and practical application research based on the cooperative formation flight of multi-rotor unmanned aerial vehicle(UAV).The main research contents are as follows:Firstly,based on the positiouing of outdoor global positioning system(GPS),a method focuses on how to solve the internal obstacle avoidance in Cooperative Formation Flight of UAV is devoted to the.relative positioning of UAV formation based on visual features to achieve corrected position of each vehicle in formation.With the accurate positioning effect showed from the experimental verifications,the distance in formation will be effectively reduced especially in large scale Cooperative Formation Flight of multi-rotor UAV.Secondly,based on the relative positioning model of multi-rotor UAV formation flight,two effective data comrmunication link networks are proposed and optimized to ensure the effective and timely data communication of formation group and with the ground station.Finally,the UAV formation control system is designed for physical realization of Cooperative Formation Flight.The formation control system,including the software design of the ground terminal,the data communication network,the loading data of environment and tasks about the relative positioning and verification of the formation flight and collaborative control algorithms,is used to further verify the design feasibility of UAV coordinated formation flight control system.